JP6015440B2 - Material testing machine - Google Patents

Description

  The present invention relates to a material testing machine, and more particularly to a material testing machine using a hydraulic cylinder as a drive source.

  In a material testing machine, in general, various loads are applied to a specimen such as a test piece by driving a load mechanism. For example, when a fatigue test is performed on a test piece, a test force is continuously applied to the test piece. A hydraulic cylinder is used as a drive source of a load mechanism for applying a test force to the test piece.

  As a hydraulic circuit for operating such a hydraulic cylinder, a system that controls a directional flow control valve (see Patent Document 1) or a system that controls a bidirectional rotary pump (see Patent Document 2) is adopted. .

  A hydraulic circuit as described in Patent Document 1 includes a hydraulic pump that discharges hydraulic oil in one direction by driving a motor, and a servo valve. By switching the flow path of the servo valve and adjusting the valve opening, a hydraulic cylinder The flow direction and flow rate of hydraulic oil to the tank are adjusted. In such a hydraulic circuit, the cost of the hydraulic power source is high, and since the hydraulic power source is always continuously operated at the rated output, the energy use efficiency becomes very bad depending on the test conditions, and the relief valve is used. Problems such as heat generation and noise during motor / pump rotation occur.

  On the other hand, the hydraulic circuit as described in Patent Document 2 includes a bidirectional rotary pump driven by an AC servomotor, and the flow of hydraulic oil to the hydraulic cylinder is adjusted by adjusting the rotational direction and the rotational speed of the AC servomotor. The direction and flow rate are adjusted. This hydraulic circuit is characterized by high energy efficiency and low noise and vibration compared to a hydraulic circuit of a control system using a directional flow control valve.

  FIG. 4 is a diagram showing a conventional hydraulic circuit for controlling a bidirectional rotary pump.

  As shown in FIG. 4, this hydraulic circuit includes a bidirectional rotary pump 133 that discharges hydraulic oil in both forward and reverse directions by rotating an AC servo motor 134 in both forward and reverse directions. The cylinder rod of the hydraulic cylinder 121 is moved by flowing hydraulic oil into one of the two cylinder chambers separated by. In the middle of the pipelines 137 and 138 communicating with the two cylinder chambers, pipelines for supplying insufficient hydraulic oil by communicating with the oil tank 136 are provided. In the hydraulic circuit in which the hydraulic oil is reciprocated by the bidirectional rotary pump 133, if there is no pipe line communicating with such an oil tank 136, the hydraulic circuit is in a vacuum state, and the operation of the hydraulic cylinder 121 is deteriorated.

  In addition, pilot check valves 131 and 132 are inserted in the pipe line, and depending on the pressure in the cylinder chamber of the hydraulic cylinder 121, the pressure in the pipe lines 137 and 138 communicating therewith, and the flow direction of the hydraulic oil, The hydraulic oil is replenished to the hydraulic circuit. The pilot check valves 131 and 132 are opened when pilot pressure is supplied from the pipe lines 137 and 138 on the opposite side across the bidirectional rotary pump 133 via the pilot pipe lines 172 and 171, respectively. .

Japanese Patent Laid-Open No. 10-38779 JP 2001-215182 A

  By the way, the pressures in the cylinder chambers and the pipe lines 137 and 138 of the hydraulic cylinder 121 do not change simultaneously with the switching of the discharge direction of the bidirectional rotary pump 133. For example, when the discharge direction of the bi-directional rotary pump 133 is switched from the (+) direction to the (−) direction, the (−) side pipe line 137 until the (+) side pipe line 138 and the cylinder chamber pressure become zero. And the pressure in the cylinder chamber does not increase. For this reason, the pilot pressure is supplied from the (−) side pipe line 137 through the pilot pipe line 172 after the discharge direction of the bidirectional rotary pump 133 is switched, and the pilot check valve 131 is opened. Deviation occurs. Then, since the hydraulic oil is not replenished until the pilot check valve 131 is opened after the discharge direction of the bidirectional rotary pump 133 is switched, the operation of the cylinder rod becomes dull. Such a delay in operation causes a delay in response to the test waveform when a dynamic test is performed.

  The present invention has been made to solve the above-described problems, and an object thereof is to provide a material testing machine that can cope with a dynamic test while having an inexpensive configuration that does not consume much electric power. To do.

The invention according to claim 1 is a material testing machine that generates a test force applied to a test piece by supplying hydraulic oil to a hydraulic cylinder, and is driven by a variable speed motor that rotates forward and reverse, and the variable speed motor. And a two-way rotary pump that discharges hydraulic oil in both directions according to the rotation direction and the rotation speed of the variable speed motor, and two cylinder chambers separated by a piston connected to a cylinder rod of the hydraulic cylinder . Each of the two-way rotary pumps is connected to each other, and two reciprocal pipelines for reciprocating the hydraulic oil according to the discharge direction of the bidirectional rotary pump, and the hydraulic oil for replenishing the two reciprocating pipelines are stored. An oil tank, based on a preset command value, a test force applied to a test piece, or a stroke of a cylinder rod of the hydraulic cylinder And a control unit for outputting a control signal for adjusting the rotational direction and the rotational speed of the variable speed motor, the hydraulic supply unit is disposed between the two reciprocating line, the driving unit for moving the valve body When, and a detector for detecting a position of the valve body, a flow path for communicating the one of the oil tank and the two reciprocating line, switched according to the rotation direction of the variable speed motor And an electric valve that changes a flow rate of the hydraulic oil flowing between the oil tank and the two reciprocating pipes according to a control signal for adjusting a rotation speed of the variable speed motor, and a rotation of the variable speed motor. A material testing machine comprising: a control signal for adjusting a speed; and a valve control circuit for adjusting an operation of the motor-operated valve based on a detection value of the detector.

  According to a second aspect of the present invention, in the first aspect of the present invention, the motor-operated valve is a spool type direct acting servo valve.

  According to a third aspect of the present invention, in the material testing machine according to the first or second aspect, the motor-operated valve includes two connection pipes to the reciprocating pipe and one connection to the oil tank. A pipe is formed.

  According to the first to third aspects of the present invention, the hydraulic supply unit communicates a reciprocating pipe that supplies hydraulic oil to the hydraulic cylinder by driving the bidirectional rotary pump and an oil tank, and an electric motor Since the valve control circuit for adjusting the operation of the valve is provided, it is possible to cope with a dynamic test while having an inexpensive configuration that does not consume much electric power.

It is a front view which shows the principal part of the material testing machine which concerns on this invention. 3 is a schematic diagram of a direct acting servo valve 50 and a direct acting servo amplifier 60. FIG. It is a graph which shows the relationship between the input signal to the linear motion servo amplifier 60 and the flow volume of the ports C1 and C2 in the linear motion servo valve. It is a hydraulic circuit diagram of a system for controlling a conventional bidirectional rotary pump.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a schematic diagram of a material testing machine according to the present invention.

  This material testing machine includes a pair of columns 12 supported by a table 11 and a cross yoke 13 supported by these columns 12. The table 11 is provided with a hydraulic cylinder 21 for applying a test force to the test piece 10 as a specimen. The hydraulic cylinder 21 is connected to a hydraulic pressure supply unit 30 that supplies hydraulic oil for operating the hydraulic cylinder 21 and a displacement detector 26 that detects the displacement of the cylinder rod 25 of the hydraulic cylinder 21. A gripping tool 29 for holding the test piece 10 is attached to the cylinder rod 25 of the hydraulic cylinder 21.

  On the lower surface of the cross yoke 13, a load cell 27 as a test force detector for detecting a test force and a gripping tool 29 for fixing the test piece 10 are disposed.

  The material testing machine also includes a control unit 40 for controlling the entire apparatus. The control unit 40 includes a ROM and a RAM as storage devices, and includes an arithmetic circuit 44 that calculates a control signal for executing PID control (Proportional Integral Derivative Controller). Further, the output signal of the displacement detector 26 and the output signal of the load cell 27 are always taken into the control unit 40 during the execution of the material test.

  When the stroke control mode is selected as the control mode during execution of the material test, the arithmetic circuit 44 receives the output signal of the displacement detector 26 input via the amplifier 41 by the action of the switching unit 43. The control value is calculated based on the deviation from the test waveform set as the target value, and the value is output as a control signal. When the test force control mode is selected as the control mode during execution of the material test, the arithmetic circuit 44 outputs the output signal of the load cell 27 input through the amplifier 42 by the action of the switching unit 43. And the control value is calculated based on the deviation from the test waveform set as the target value, and a control signal is output.

  The hydraulic cylinder 21 is operated by hydraulic oil supplied from the hydraulic supply unit 30. The cylinder of the hydraulic cylinder 21 is separated into a first cylinder chamber 23 and a second cylinder chamber 24 by a piston 22 connected to a double-acting cylinder rod 25. Connected to the first cylinder chamber 23 and the second cylinder chamber 24 are a conduit 37 and a conduit 38, the other ends of which are connected to a discharge port of a bidirectional rotary pump 33 described later. A pipe 37 and a pipe 38 are hydraulic oil reciprocating pipes connecting the hydraulic cylinder 21 and the bidirectional rotary pump 33 of the present invention.

  The hydraulic supply unit 30 controls the flow direction and flow rate of the hydraulic oil that flows into the hydraulic cylinder 21 by a control signal supplied from the control unit 40. The hydraulic pressure supply unit 30 includes a bidirectional rotary pump 33 and an AC servo motor 34 for driving the bidirectional rotary pump 33. The hydraulic pressure supply unit 30 includes an oil tank 36 for storing hydraulic oil, an AC servo amplifier 35 for changing the rotation direction and rotation speed of the AC servo motor 34, and a direct acting which is an electric switching valve of the present invention. A servo valve 50 and a direct acting servo amplifier 60 having a function as a valve control circuit of the present invention are provided. In addition, the motor which drives the bidirectional | two-way rotary pump 33 should just be a motor which can change the rotational speed of forward / reverse bidirectional | two-way.

  The AC servo amplifier 35 converts the control signal supplied from the control unit 40 into a rotation command signal for the AC servo motor 34 and supplies it to the AC servo motor 34. (+) And (−) in the rotation direction of the AC servo motor 34 correspond to (+) and (−) in the hydraulic oil discharge direction of the bidirectional rotary pump 33, and the rotation speed of the AC servo motor 34 is bidirectional. This is proportional to the flow rate of hydraulic oil discharged from the rotary pump 33.

  The hydraulic cylinder 21 is operated by hydraulic oil supplied from the hydraulic supply unit 30. When the AC servo motor 34 rotates in the (−) direction and the bidirectional rotary pump 33 discharges hydraulic oil in the (−) direction, the first cylinder separated from the pipe 37 by the piston 22 of the hydraulic cylinder 21. Hydraulic fluid is supplied to the chamber 23. At this time, the hydraulic oil discharged from the second cylinder chamber 24 of the hydraulic cylinder 21 flows from the pipe line 38 to the pipe line 37 by the action of the bidirectional rotary pump 33.

  On the other hand, when the AC servo motor 34 rotates in the (+) direction and the bidirectional rotary pump 33 discharges the hydraulic oil in the (+) direction, the second is separated from the pipeline 38 by the piston 22 of the hydraulic cylinder 21. The hydraulic oil is supplied to the two cylinder chamber 24. At this time, the hydraulic oil discharged from the first cylinder chamber 23 of the hydraulic cylinder 21 flows from the pipe line 37 to the pipe line 38 by the action of the bidirectional rotary pump 33. As described above, the hydraulic oil passes between the first cylinder chamber 23 and the second cylinder chamber 24 in the hydraulic cylinder 21 via the pipe line 37 and the pipe line 38 according to the hydraulic oil discharge direction of the bidirectional rotary pump 33. Flow back and forth.

  The direct acting servo valve 50 receives a command from the control unit 40 via the direct acting servo amplifier 60 and switches the flow path communicating with the oil tank 36, thereby supplying the insufficient hydraulic oil to the pipe line 37 or the pipe line 38. Or excess hydraulic oil is returned from the pipe 37 or 38 to the oil tank 36. That is, in the direct acting servo valve 50, the flow path communicating with the oil tank 36 and the hydraulic oil at that time are changed according to the switching of the rotation direction of the AC servo motor 34 and the change in the rotation speed of the AC servo motor 34. It is possible to adjust the flow rate.

  FIG. 2 is a schematic diagram of the direct acting servo valve 50 and the direct acting servo amplifier 60.

  The direct-acting servo valve 50 has a spool-type valve structure that switches between connection and disconnection of each port when the spool 52 that functions as a valve body is displaced in the axial direction in the sleep 57. The direct acting servo valve 50 is a so-called direct acting valve that directly moves the spool 52 in which the cylindrical lands 53, 54, and 55 are arranged by a force motor 51 that is a drive unit connected to the spool 52. It is. A displacement meter 56 as a detector for detecting the axial displacement of the spool 52 is disposed on the opposite side of the spool 52 from the connection end with the force motor 51.

  The sleep 57 is provided with connection pipes for connection to the oil tank 36 and the pipe lines 37 and 38, respectively. That is, a port C <b> 1 communicating with the conduit 37, a port C <b> 2 communicating with the conduit 38, and a port T communicating with the oil tank 36 are formed in the sleep 57. On the inner peripheral surface of the sleep 57, openings 68 and 69 for guiding hydraulic oil to the ports C1 and C2 are formed. Further, two openings 58 and 59 for guiding the hydraulic oil to the port T are formed on the inner peripheral surface of the sleep 57. The opening 68 and the opening 58 are openings for connecting the port C1 and the port T, and the openings 69 and 59 are openings for connecting the port C2 and the port T.

  The distance between the land 53 and the land 54 of the spool 52 and the distance between the land 53 and the land 55 are sufficient for the respective openings 58, 59, 68 and 69 formed in the inner peripheral surface of the sleep 57 to communicate with each other. Length. Further, the openings 58 and 59 of the port T are formed at intervals at which the openings 58 and 59 are fully opened on the inner peripheral surface of the sleep 57 when the land 53 is at the center position. On the other hand, the openings 68 and 69 of the port C1 and the port C2 are formed at intervals at which the land 53 is fully closed by the land 53 on the inner peripheral surface of the sleep 57 when the land 53 is in the center position. Therefore, when the land 53 is in the center position, both the port C1 and the port C2 are blocked. In this embodiment, the three direct acting servo valves 50 are used for connection with other pipes. However, even if there are four or more connection ports, unused ports are used. The same operation as that of this embodiment can be realized by closing the connection or connecting them outside.

  The operation of the direct acting servo valve 50 having the above configuration is adjusted by the direct acting servo amplifier 60. The linear motion servo amplifier 60 includes an arithmetic circuit 62 that calculates a control value for executing PID control, and an output circuit 63. The detected value of the displacement meter 56 during execution of the test is input to the linear motion servo amplifier 60. The arithmetic circuit 62 calculates a control value based on the deviation between the input signal input from the control unit 40 and the displacement signal of the spool 52 input via the amplifier 61. The control value calculated in the arithmetic circuit 62 is converted into a drive signal for the force motor 51 in the output circuit 63 and output to the force motor 51.

  FIG. 3 is a graph showing the relationship between the input signal to the direct acting servo amplifier 60 and the flow rates of the ports C1 and C2 in the direct acting servo valve 50. The horizontal axis indicates the input signal as a percentage, and the vertical axis indicates the flow rate as a percentage.

  The input signal input to the linear servo amplifier 60 is the same as the control signal input to the AC servo amplifier 35 that outputs a drive signal for the AC servomotor 34. Therefore, + and − on the horizontal axis of the graph of FIG. 3 correspond to (+) and (−) in the rotation direction of the AC servomotor 34. 100% of the input signal on the horizontal axis corresponds to the maximum rotational speed of the AC servo motor 34, and 100% of the flow rate on the vertical axis corresponds to the flow rate when the ports C1 and C2 are fully opened. To do. That is, the flow rate of the hydraulic oil in the flow path communicating with the oil tank 36 and the pipe line 37 or the pipe line 38 changes corresponding to the opening degree of each of the ports C1 and C2.

  When the AC servo motor 34 rotates to the (+) side and the bidirectional rotary pump 33 discharges the hydraulic oil to the (+) side, the force motor 51 is driven to move the spool 52 to the force motor 51 in FIG. By moving to the side, the port C1 opens at an opening degree corresponding to the rotational speed of the AC servomotor 34, and the pipe line 37 communicates with the oil tank 36 via the ports C1 and T. That is, the opening degree of the opening 68 of the port C1 is adjusted by the land 53. At this time, the opening 58 of the port T is always open, and the port C2 is always closed by the land 53.

  On the other hand, when the AC servo motor 34 rotates to the (−) side and the bidirectional rotary pump 33 discharges hydraulic fluid to the (−) side, the force motor 51 is driven to displace the spool 52 in FIG. By moving to the total 56 side, the port C2 opens at an opening degree corresponding to the rotational speed of the AC servomotor 34, and the pipe line 38 communicates with the oil tank 36 via the port C2 and the port T. That is, the opening degree of the opening 69 of the port C2 is adjusted by the land 53. At this time, the opening 59 of the port T is always open, and the port C1 is always closed by the land 53.

  In this way, the direct acting servo valve 50 switches the hydraulic oil supply flow path from the oil tank 36 to the hydraulic cylinder 21 in accordance with the rotation direction of the AC servo motor 34 and also supplies the AC servo motor 34 to the AC servo motor 34. The flow rate of the hydraulic oil flowing between the oil tank 36 and the pipe line 37 or the pipe line 38 is adjusted according to the command rotational speed.

  Further, in this embodiment, since the direct-acting servo amplifier 60 performs the closed loop control by feeding back the displacement of the spool 52, the flow rate of the hydraulic fluid is adjusted according to the command value of the AC servo motor 34. It can be done accurately.

  When the dynamic test is performed by the material testing machine described above, the lower gripping tool 29 is reciprocated by the cylinder rod 25 of the hydraulic cylinder 21 while the test piece 10 is supported by the gripping tool 29, and the test piece 10 is moved. Apply vibration at the test frequency. The stroke of the cylinder rod 25 in the hydraulic cylinder 21 at this time is detected by the displacement detector 26. Further, the test force applied to the test piece 10 at this time is detected by the load cell 27. As described above, the movement direction of the cylinder rod 25 of the hydraulic cylinder 21 is changed by switching the rotation direction of the AC servomotor 34 in the hydraulic pressure supply unit 30.

  In this material testing machine, a control signal for driving the AC servo motor 34 output from the control unit 40 is also input to the direct acting servo amplifier 60 that functions as a valve control circuit of the direct acting servo valve 50. Therefore, unlike the conventional hydraulic circuit shown in FIG. 4, the rotation of the AC servo motor 34 does not depend on changes in the pressure in the first cylinder chamber 23, the second cylinder chamber 24, and the pipes 37 and 38 of the hydraulic cylinder 21. In synchronism with the change of direction, the flow path of the direct acting servo valve 50 can be switched to supply the insufficient hydraulic oil from the oil tank 36 to the pipe line 37 or the pipe line 38. Therefore, this material testing machine eliminates the problem of response delay with respect to the test frequency when performing dynamic testing, which occurred in a conventional material testing machine that employs a hydraulic circuit that controls a bidirectional rotary pump. ing.

  In addition, from the viewpoint of responsiveness to the test frequency in the dynamic test, the hydraulic circuit described in Patent Document 1 has been employed in the material testing machine that performs the dynamic test. By applying, it is possible to provide a material testing machine capable of accurately performing both dynamic tests and static tests while reducing power consumption and noise during testing.

DESCRIPTION OF SYMBOLS 10 Test piece 11 Table 12 Column 13 Cross yoke 21 Hydraulic cylinder 22 Piston 23 Cylinder chamber 24 Cylinder chamber 25 Cylinder rod 26 Displacement detector 27 Load cell 29 Grasp 30 Hydraulic supply part 33 Bidirectional rotary pump 34 AC servo motor 35 AC servo amplifier 36 Oil tank 37 Pipe line 38 Pipe line 40 Control unit 41 Amplifier 42 Amplifier 43 Switching unit 44 Arithmetic circuit 50 Direct acting servo valve 51 Force motor 52 Spool 53 Land 54 Land 55 Land 56 Displacement meter 57 Sleep 58 Open 59 Open 60 Direct drive Servo amplifier 61 Amplifier 62 Arithmetic circuit 63 Output circuit 68 Opening 69 Opening

Claims (3)

In a material testing machine that generates a test force applied to a test piece by supplying hydraulic oil to a hydraulic cylinder,
A variable speed motor that rotates forward and reverse, a bidirectional rotary pump that is driven by the variable speed motor and that discharges hydraulic oil in both directions according to the rotation direction and the rotation speed of the variable speed motor, and the cylinder of the hydraulic cylinder Two reciprocating conduits for connecting the two cylinder chambers separated by pistons connected to the rod and the bidirectional rotary pump, and for reciprocating the hydraulic oil according to the discharge direction of the bidirectional rotary pump ; An oil tank that stores hydraulic oil to be replenished in the two reciprocating pipes;
Based on a preset command value, a test force applied to the test piece, or a stroke of the cylinder rod of the hydraulic cylinder, a control signal for adjusting the rotational direction and rotational speed of the variable speed motor is output. A control unit;
With
The hydraulic pressure supply unit
It is arranged between the two reciprocating line, a driving portion for moving the valve body, and a detector for detecting a position of the valve body, either one of the oil tank and the two reciprocating line Is switched according to the rotation direction of the variable speed motor, and between the oil tank and the two reciprocating pipe lines according to a control signal for adjusting the rotation speed of the variable speed motor. A motorized valve that changes the flow rate of hydraulic fluid flowing through
A valve control circuit for adjusting the operation of the motor-operated valve based on a control signal for adjusting the rotational speed of the variable speed motor and a detection value of the detector;
A material testing machine comprising: The material testing machine according to claim 1,
The motor-operated valve is a material testing machine which is a spool type direct acting servo valve. In the material testing machine according to claim 1 or 2,
A material testing machine in which the connection valve to the two reciprocating pipes and the connection pipe to the one oil tank are formed in the electric valve.

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